JP2017034446A - Vehicle periphery visual recognition device - Google Patents

Abstract

An angle of view of an image displayed on a display device can be changed based on vehicle information. The present invention includes an imaging device, a detection device, an image processing device, and a display device. The imaging device 1 images the rear and side of the vehicle C. The detection device 2 detects the steering angle θ. The image processing device 3 cuts out the rear and side images of the vehicle C imaged by the imaging device 1 with the cut-out angle of view X set based on the steering angle θ from the detection device 2, and the steering angle The cut-out view angle X is changed with the transition times T3 and T4 in accordance with the change of θ. The display device 4 displays the image cut out by the image processing device 3. As a result, the present invention can change the angle of view of the image displayed on the display device 4 with the transition times T3 and T4 based on the steering angle θ. [Selection] Figure 2

Description

  The present invention relates to a vehicle periphery visual recognition device that displays an image of a vehicle periphery captured by an imaging device on a display device and visually recognizes the vehicle periphery.

  Conventionally, this kind of vehicle periphery visual recognition device has existed (for example, patent documents 1). A conventional vehicle periphery visual recognition device is provided with a CCD having a large imaging area, and the CCD control section shifts the imaging area used by the CCD vertically and horizontally to widen the imaging field of view.

JP 2005-20377 A

  However, in the conventional vehicle periphery visual recognition device, even if a CCD having a large imaging area is provided, the used imaging area of the CCD is constant. For this reason, the conventional vehicle periphery visual recognition device has a constant angle of view (viewing angle) of an image displayed on the display of the car navigation system even when the imaging visual field is widened.

  The problem to be solved by the present invention is to provide a vehicle periphery visual recognition device that can change the angle of view (viewing angle) of an image displayed on a display device based on vehicle information.

  The present invention (the invention according to claim 1) is based on vehicle information from a detection device, an imaging device that images the periphery of the vehicle, a detection device that detects vehicle information, and an image of the vehicle periphery captured by the imaging device. An image processing apparatus that cuts out at a set cut-out angle of view and changes the cut-out angle of view in accordance with a change in vehicle information, and a display device that displays an image cut out by the image processing apparatus. The apparatus is characterized in that the transition time for changing the cut-out angle of view has a width.

  According to the present invention (the invention according to claim 2), the transition time for the image processing device to change the cut-out view angle from the narrow angle to the wide angle is shorter than the transition time for changing the cut-out view angle from the wide angle to the narrow angle. It is characterized by that.

  In the present invention (the invention according to claim 3), the imaging device is an imaging device that images the rear and side of the vehicle, and the detection device detects ON (ON) and OFF (OFF) of the turn signal switch of the vehicle. The image processing device is an image processing device for setting a cut-out angle of view when the turn signal switch is in an ON state to a wide angle with respect to a cut-out view angle when the turn signal switch is in an OFF state, and a display device Is a display device that displays an image cut out by the image processing device at the cut-out angle of view when the winker switch is in the OFF state and an image cut out at the cut-out angle of view when the winker switch is in the ON state. It is characterized by that.

  According to the present invention (the invention according to claim 4), the image processing apparatus is cut out to the image cut out at the cut-out angle of view when the winker switch is in the ON state, and is cut out at the cut-out angle of view when the winker switch is in the OFF state. It is characterized by comprising a superimposing portion for superimposing a light-transmitting outer frame having the same or almost the same size as the outer frame of the image.

  The vehicle periphery visual recognition apparatus of this invention can change the angle of view (viewing angle) of the image displayed on a display apparatus based on vehicle information.

FIG. 1 shows an embodiment of a vehicle periphery visual recognition apparatus according to the present invention, and is an explanatory plan view of a use state mounted on a vehicle. FIG. 2 is a functional block diagram showing the overall configuration. FIG. 3 is an explanatory diagram showing an imaging angle of view (imaging range) of the imaging device mounted on the right side of the vehicle. FIG. 4 is an explanatory diagram showing a display screen of the display device. FIG. 5 is an explanatory diagram showing an image of an initial cut-out view angle (minimum cut-out view angle) displayed on the display screen of the display device. FIG. 6 is an explanatory diagram showing an image with an intermediate cut-out angle of view displayed on the display screen of the display device. FIG. 7 is an explanatory diagram showing an image with the maximum cut-out angle of view displayed on the display screen of the display device. FIG. 8 is an explanatory diagram showing the relative relationship between the steering angle and the cut-out angle of view. FIG. 9 is an explanatory diagram showing a transition time for changing the cut-out angle of view.

  Hereinafter, one example of an embodiment (example) of a vehicle periphery visual recognition device concerning this invention is explained in detail based on a drawing. In addition, this invention is not limited by this embodiment and a modification. In this specification and claims, front, rear, upper, lower, left, and right are front, rear, upper, lower, and front of the vehicle C when the vehicle periphery visual recognition device according to the present invention is mounted on the vehicle C. Left and right.

  In FIG. 8, the horizontal axis represents the steering angle θ, and the vertical axis represents the cut-out angle of view X. In FIG. 9, the vertical axis represents the cut-out angle of view X, and the horizontal axis represents time T.

(Description of Configuration of Embodiment)
Hereinafter, the structure of the vehicle periphery visual recognition apparatus concerning this embodiment is demonstrated. As shown in FIG. 2, the vehicle periphery visual recognition device according to this embodiment includes an imaging device (camera) 1, a detection device 2, an image processing device (image processing ECU) 3, a display device (monitor) 4, Is provided.

(Description of Imaging Device 1)
As shown in FIG. 1, the imaging device 1 is mounted on left and right doors of a vehicle C, respectively. The imaging device 1 is an alternative to a vehicle rear view mirror, in this example, an outside mirror device (door mirror device) mounted on the left and right doors of the vehicle C. Hereinafter, the imaging device 1 mounted on the right side of the vehicle C will be described. Note that the imaging device 1 mounted on the left side of the vehicle C has substantially the same configuration as the imaging device 1 mounted on the right side of the vehicle C, and thus description thereof is omitted.

  The imaging device 1 is connected to the image processing device 3. The imaging device 1 captures information on the back and sides of the vehicle C (see FIG. 3) around the vehicle C, and uses the captured information on the back and sides of the vehicle C as image data. This is output to the image processing apparatus 3. In this example, the imaging apparatus 1 uses a camera having an angle of view (image size, number of pixels) of 2,560 × 1,440.

(Description of Detection Device 2)
The detection device 2 is mounted on the vehicle C. The detection device 2 is connected to the image processing device 3. The detection device 2 detects information on the vehicle C, and outputs the detected vehicle information to the image processing device 3 as a detection signal. In this example, the detection device 2 includes a steering angle detection unit (steering angle sensor), a gear position detection unit (gear position sensor), and a direction indication detection unit (direction indication sensor). In addition to the detection unit, the detection device 2 includes a vehicle speed detection unit (vehicle speed sensor), a vehicle position detection unit (vehicle position sensor), an ultrasonic detection unit (ultrasonic sensor), and other detection units. And may be provided.

  The steering angle detector detects a steering angle (steering angle, synonym for steering angle) θ of a steering handle (synonyms such as steering wheel and steering wheel) and outputs a steering angle signal to the image processing device 3 It is. That is, the steering angle detection unit, for example, when the vehicle C makes a left turn or a right turn at an intersection, and the vehicle C travels on a curved road (a road with a left curve or a road with a right curve). Further, when the lane in which the vehicle C is traveling is changed to the right side or the left side, the steering angle (rotation angle) θ of the steering handle operated by the driver is detected, and the steering angle signal is This is output to the image processing apparatus 3. The vehicle information detected by the steering angle detection unit is the steering angle θ when the vehicle C makes a left turn or a right turn at an intersection or a curved road or when the vehicle C changes lanes. The steering angle θ is from 0 ° to a maximum θB ° in the left rotation and the right rotation of the steering handle. In addition to detecting the steering angle θ, the steering angle detection unit detects an operation direction (rotation direction) and an angular velocity of the steering wheel, and outputs an operation direction signal and an angular velocity signal to the image processing device 3. It may be.

  The gear position detection unit detects a gear position switched by the driver and outputs a gear position signal to the image processing device 3. In this example, the gear position detection unit detects a forward gear position (gear position such as 1st speed, 2nd speed, and drive) where the vehicle C moves forward, and outputs a gear position signal to the image processing device 3. It is. The vehicle information detected by the gear position detection unit is the forward gear position when the vehicle C moves forward. The gear position detection unit may detect a reverse position where the vehicle C moves backward, a parking position where the vehicle C stops, a neutral position, etc., in addition to the gear position where the vehicle C moves forward.

  The direction instruction detection unit detects a direction instruction operation performed by a driver and outputs a direction instruction signal to the image processing apparatus 3. The direction indication detection unit is composed of, for example, a left turn signal switch SW and a right turn signal switch SW. The left turn signal switch SW In this example, the right turn signal switch SW is turned on by the driver when turning left or right at an intersection or when the driving lane is changed to the right side on the left side. Alternatively, it is automatically turned off when the steering wheel returns a predetermined angle or more after changing the travel lane.

  The left turn signal switch SW, as shown in FIG. 9A, outputs an ON signal (for example, a high level signal) to the image processing device 3 when turned on and is turned off when turned off. A signal (for example, a low level signal) is output to the image processing apparatus 3. The left turn signal lamp (not shown) and the right turn signal lamp (not shown) are flashed and lit when the left turn signal switch SW is ON. When the left turn signal lamp SW is turned off, the left turn signal lamp and the right turn signal lamp are turned off. The vehicle information detected by the direction indication detection unit is an ON state OFF state of the blinker switch SW.

(Description of Image Processing Device 3)
The image processing device 3 is mounted on the vehicle C. The image processing device 3 is connected to the imaging device 1, the detection device 2, and the display device 4, respectively. The image processing device 3 sets the rear and side images of the vehicle C captured by the imaging device 1 based on the steering angle θ of the vehicle information from the detection device 2 and the forward gear position. Are cut out at the cutout view angle X (XA, XN, X1, X2, X3, XB), and the cutout view angle X (XA, XN, X1, X2) in accordance with the change in the steering angle θ of the vehicle information , X3, XB).

  As shown in FIGS. 3 and 8, the image processing apparatus 3 sets the angle of view of the mirror surface of the vehicle rear view mirror as the minimum cut-out view angle (minimum horizontal view angle) XA. In addition, the maximum imaging field angle of the imaging device 1 is defined as a maximum clipping field angle (maximum horizontal field angle) XB. Further, the cutout view angles between the minimum cutout view angle XA and the maximum cutout view angle XB are set as intermediate cutout view angles XN, X1, X2, and X3. Note that the symbol “XN” indicates an unspecified intermediate cut-out angle of view. Symbols “X1, X2, and X3” indicate specific intermediate cut-out view angles.

  As shown in FIGS. 3 and 8, the image processing apparatus 3 uses the minimum cut-out view angle XA as an initial cut-out view angle, and uses the cut-out view angle X as the minimum cut-out view angle as the steering angle θ changes. The angle is changed in a range from the angle XA to the maximum cut-out view angle XB through the intermediate cut-out view angles XN, X1, X2, and X3. The initial cut-out angle of view XA is determined when the vehicle periphery visual recognition device according to this embodiment is in a driving (operating) state or when the vehicle periphery visual recognition device according to this embodiment is in a driving (operating) state. It is a cut-out image cut out initially when a position detection unit detects the forward gear position.

  As shown in FIG. 2, the image processing apparatus 3 includes a determination unit 5, an image cutout unit 6, and an overlay unit 7.

  The discriminating unit 5 determines discriminating signals θA, θ1, θ2 based on input signals θA, θ1, θ2, θ3, θB of the steering angle θ of the vehicle information from the detection device 2 and input signals of the forward gear position. , Θ3, and θB are output to the image cutout unit 6.

  The image cutout unit 6 sets the image from the imaging device 1 based on the determination signals θA, θ1, θ2, θ3, θB from the determination unit 5 and the cutout view angle X (XA, XN, X1, X2, X3, XB). The discrimination signals θA, θ1, θ2, θ3, and θB are threshold values that are cut out at the cut-out view angle X (XA, XN, X1, X2, X3, XB).

  The superimposing unit 7 adds the image cut out at the initial cut-out view angle XA to the image cut out at the set cut-out view angle X (XA, XN, X1, X2, X3, XB). The light-transmitting outer frame 12 having the same or almost the same size as the outer frame of FIG. 5) is superposed. The light transmissive outer frame 12 is colored, for example, light transmissive green.

  The image processing device 3 uses the cut-out view angle X when the turn signal switch SW of the direction indication detection unit of the detection device 2 is in the ON state, and the cut-out view angle X when the turn signal switch SW is in the OFF state. On the other hand, it is a wide angle. For example, the image processing apparatus 3 uses the cut-out view angle X as the minimum cut-out view angle XA (see FIGS. 3 and 5) when the turn signal switch SW of the direction indication detection unit of the detection apparatus 2 is ON. From the intermediate cut-out view angles XN, X1, X2, and X3 (see FIGS. 3 and 6), the wide-cut intermediate cut-out view angles XN, X1, X2, and X3 and the maximum cut-out view angle XB (see FIGS. 3 and 7). Change to see). Further, the image processing device 3 uses the cutout view angle X as the maximum cutout view angle XB and the intermediate cutout image when the turn signal switch SW of the direction indication detection unit of the detection device 2 is OFF. The angle XN, X1, X2, and X3 are changed to the intermediate cutout view angle XN, X1, X2, and X3, and the minimum cutout view angle XA.

  In particular, as shown in FIGS. 9B and 9C, the image processing device 3 uses the cut-out view angle X as a narrow cut-out view angle (in FIG. 9, the initial cut-out view angle (the minimum cut-out view angle). The transition time T3 to be changed from the angle of view (XA) to the wide cut-out view angle (in FIG. 9, the maximum cut-out view angle XB) is widened.

  Further, as shown in FIGS. 9B and 9C, the image processing apparatus 3 changes the cut-out view angle X from a wide cut-out view angle (in FIG. 9, the maximum cut-out view angle XB) to a narrow angle. The transition time T4 to be changed to the cut-out view angle (in FIG. 9, the initial cut-out view angle (the minimum cut-out view angle) XA) is given a width.

  Further, as shown in FIGS. 9B and 9C, the image processing apparatus 3 uses the cut-out view angle X as a narrow cut-out view angle (in FIG. 9, the initial cut-out view angle (the minimum cut-out view angle) Angle of view) XA) is changed to a wide cut-out view angle (in FIG. 9, the maximum cut-out view angle XB), the transition time T3 is changed, and the cut-out view angle X is changed to a wide cut-out view angle (in FIG. The transition time T4 is changed from the maximum cutout angle of view XB) to a narrow cutout angle of view (in FIG. 9, the initial cutout angle of view (the minimum cutout angle of view) XA).

  The transition times T3 and T4 may be linearly transitioned as shown in FIG. 9B, or nonlinearly transitioned as shown in FIG. 9C. It may be what you do.

  As shown by the solid line in FIG. 8, the image processing device 3 changes the steering angle θ (θA, θ1, θ2, θ3, θB) of the vehicle information and the cut-out angle of view X (XA, XN, X1, X2, X3, and XB) are each given a width. That is, the change in the steering angle θ and the change in the cut-out view angle X (XA, XN, X1, X2, X3, XB) vary stepwise (stepping). Hereinafter, the step-like variation will be described in detail.

  In the range where the steering angle θ is from 0 to the threshold value θA, the initial cut-out view angle (the minimum cut-out view angle) XA is cut out. When the steering angle θ reaches the threshold value θA, the cutout view angle X is cut out from the initial cutout view angle (the minimum cutout view angle) XA to the intermediate cutout view angle X1.

  In the range where the steering angle θ ranges from the threshold value θA to the threshold value θ1, the intermediate cut-out view angle X1 is cut out. When the steering angle θ reaches the threshold θ1, the cut-out view angle X is cut out from the intermediate cut-out view angle X1 to the intermediate cut-out view angle X2. On the other hand, when the steering angle θ returns to the threshold value θA, the cutout view angle X is cut out (returned) from the intermediate cutout view angle X1 to the initial cutout view angle XA.

  In the range where the steering angle θ ranges from the threshold value θ1 to the threshold value θ2, the intermediate cut-out view angle X2 is cut out. When the steering angle θ reaches the threshold θ2, the cut-out view angle X is cut out from the intermediate cut-out view angle X2 to the intermediate cut-out view angle X3. On the other hand, when the steering angle θ returns to the threshold θ1, the cut-out view angle X is cut out (returned) from the intermediate cut-out view angle X2 to the intermediate cut-out view angle X1.

  In the range where the steering angle θ ranges from the threshold value θ2 to the threshold value θ3, the intermediate cut-out view angle X3 is cut out. When the steering angle θ reaches the threshold value θ3, the cutout view angle X is cut out from the intermediate cutout view angle X3 to the maximum cutout view angle XB. On the other hand, when the steering angle θ returns to the threshold θ2, the cut-out view angle X is cut out (returned) from the intermediate cut-out view angle X3 to the intermediate cut-out view angle X2.

  In the range where the steering angle θ is between the threshold value θ3 and the threshold value θB, the maximum clipping angle of view XB is cut out. When the steering angle θ returns to the threshold value θ3, the cutout view angle X is cut out (returned) from the maximum cutout view angle XB to the intermediate cutout view angle X3.

  Note that the image processing apparatus 3 changes the steering angle θ (θA, θ1, θ2, θ3, θB) and the cut-out angle of view X (XA, XN, X1, X2), as indicated by a dashed line in FIG. , X3, XB) may vary linearly.

(Description of display device 4)
The display device 4 is mounted in the visual field range of the driver in the vehicle C. In this example, the display device 4 uses a monitor having an angle of view (image size, number of pixels) of 1,280 × 720. The display device 4 is connected to the image processing device 3. The display device 4 is an image (see FIGS. 5, 6, and 7) cut out at the cut-out angle of view X (XA, XN, X1, X2, X3, XB) set by the image processing device 3. ) Is displayed. Note that the image shown in FIG. 5 is an image cut out by the image processing apparatus 3 at the initial cut-out view angle (the minimum cut-out view angle) XA. The image shown in FIG. 6 is an image cut out by the image processing device 3 at the intermediate cut-out view angles XN, X1, X2, and X3. The image shown in FIG. 7 is an image cut out by the image processing device 3 at the maximum cut-out view angle XB.

  3 and 5 to 7, reference numerals “8”, “9”, and “10” indicate “road surface”, “road shoulder”, and “road wall” on which the vehicle C is traveling. Reference numeral “11” denotes a road cone disposed on the road surface 8. The road cone 11 represents a range (angle of view of an image displayed on the display device 4) that a driver can visually recognize from an image displayed on the display device 4 in the vehicle periphery visual recognition device according to this embodiment. It is a mark for.

(Description of the operation of the embodiment)
The vehicle periphery visual recognition apparatus concerning this embodiment consists of the above structures, and demonstrates the effect | action below.

  First, as shown in FIG. 4, no image is displayed on the display device 4. Then, the vehicle periphery visual recognition device according to this embodiment is in a drive (actuated) state. Alternatively, the gear position detection unit detects the forward gear position when the vehicle periphery visual recognition apparatus according to this embodiment is in the drive (actuated) state. Then, as shown in FIG. 5, the display device 4 displays an image cut out with the initial cut-out view angle (minimum cut-out view angle) XA set by the image processing device 3.

  The steering angle θ changes to 0, θA, θ1, θ2, θ3, and θB. Then, as indicated by a solid line in FIG. 8, the cut-out angle of view X set by the image processing device 3 is changed to XA, XN, X1, X2, X3, and XB. Then, the image cut out at the cut-out angle of view X (XA, XN, X1, X2, X3, XB) set by the image processing device 3 is displayed on the display device 4 as shown in FIGS. Is done.

  The image shown in FIG. 5 is an image cut out by the image processing apparatus 3 with an initial cut-out view angle (minimum cut-out view angle) XA. The image shown in FIG. 5 has an angle of view that is the same as or substantially the same as the angle of view of the mirror surface of the vehicle rear view mirror. A light-transmissive outer frame 12 is displayed on the outer frame of the image shown in FIG.

  The image shown in FIG. 6 is an image cut out by the image processing apparatus 3 at the intermediate cut-out view angles XN, X1, X2, and X3. The image shown in FIG. 6 is displayed with a wider angle of view than the image shown in FIG. 5 (see the light-transmitting outer frame 12 in FIG. 6). For this reason, the road cone 11 that is not visible in the image shown in FIG. 5 is visible in the image shown in FIG. In the image shown in FIG. 6, a light-transmitting outer frame 12 is displayed as a range that can be seen in the image shown in FIG.

  The image shown in FIG. 7 is an image cut out by the image processing device 3 with the maximum cut-off view angle XB. The image shown in FIG. 7 includes the image shown in FIG. 5 (see the light-transmitting outer frame 12 in FIG. 7) and the image shown in FIG. 6 (see the frame shown by the broken line in FIG. 7). It is displayed with a wider angle of view. For this reason, the road cone 11 that cannot be seen in the image shown in FIG. 5 and the image shown in FIG. 6 is visible in the image shown in FIG. In the image shown in FIG. 7, a light-transmitting outer frame 12 is displayed as a range that can be seen in the image shown in FIG.

  Here, when the vehicle C is moving forward when the steering angle θ is between 0 and the threshold value θA, at this time, as shown in FIG. Angle of view) An image cut out by XA is displayed. At this time, when the vehicle C turns left or right or changes the lane to the right on the left side, the driver performs a direction instruction operation. Then, the turn signal switch SW of the direction indication detection unit of the detection device 2 changes from the OFF state to the ON state. The image processing device 3 changes the cut-out view angle X from the initial cut-out view angle (minimum cut-out view angle) XA to the maximum cut-out view angle XB based on the ON signal from the turn signal switch SW of the direction indication detection unit of the detection device 2. To do. As a result, the display device 4 displays an image cut out at the maximum cut-out angle of view XB as shown in FIG. As a result, the rear and side viewing ranges of the vehicle C are expanded. For this reason, the driver can operate the steering handle while visually recognizing the rear and side of the vehicle C having a wide field of view, and can safely turn the vehicle C to the left or right or change the lane to the right on the left.

  When the cutout view angle X is changed from the initial cutout view angle (minimum cutout view angle) XA to the maximum cutout view angle XB, as shown in FIGS. 9B and 9C, the transition time from the change start time T1. T3 is spent to change over and over gradually.

  When the vehicle C turns left or right or changes its lane to the left and right, the driver returns the steering handle to the original state. Then, the turn signal switch SW of the direction indication detection unit of the detection device 2 changes from the ON state to the OFF state. The image processing device 3 changes the cut-out view angle X from the maximum cut-out view angle XB to the initial cut-out view angle (minimum cut-out view angle) XA based on the OFF signal from the turn signal switch SW of the direction indication detection unit of the detection device 2. To do. Thereby, as shown in FIG. 5, the original image cut out at the initial cut-out view angle (minimum cut-out view angle) XA is displayed on the display device 4.

  When the cutout view angle X is changed from the maximum cutout view angle XB to the initial cutout view angle (minimum cutout view angle) XA, as shown in FIGS. 9B and 9C, the transition time from the change start time T2 T4 is spent to change over and over gradually.

(Explanation of effect of embodiment)
The vehicle periphery visually recognizing device according to this embodiment is configured and operated as described above, and the effects will be described below.

  When the steering angle θ changes to 0, θA, θ1, θ2, θ3, and θB, the cut-out view angle X set by the image processing device 3 is set to XA, XN, X1, The image is changed to X2, X3, and XB, and an image cut out at the cut-out angle of view X (XA, XN, X1, X2, X3, XB) set by the image processing device 3 is displayed on the display device 4.

  As mentioned above, the vehicle periphery visual recognition apparatus concerning this embodiment can change the angle of view (viewing angle) of the image displayed on a display apparatus based on vehicle information. Thereby, the vehicle periphery visual recognition apparatus concerning this embodiment can visually recognize the back and the side of the vehicle C with an angle of view wider than the angle of view of the mirror surface of the vehicle rear view mirror. As a result, the vehicle periphery visually recognizing device according to this embodiment can visually recognize a range that is a blind spot on the mirror surface of the vehicle rear view mirror, which can contribute to traffic safety.

  In particular, as shown in FIGS. 9A, 9B, and 9C, the vehicle periphery visual recognition device according to this embodiment sets the cut-out angle of view X to the initial value based on the turn-on of the turn signal switch SW of vehicle information. In the case of changing from the cut-out view angle (minimum cut-out view angle) XA to the maximum cut-out view angle XB, the transition time T3 is consumed from the change start time T1 and gradually and continuously changed. On the other hand, as shown in FIGS. 9 (A), (B), and (C), the vehicle periphery visual recognition apparatus according to this embodiment sets the cut-out angle of view X to the maximum based on the turn-off of the turn signal switch SW of vehicle information. In the case of changing from the cut-out view angle XB to the initial cut-out view angle (minimum cut-out view angle) XA, the transition time T4 is consumed from the change start time T2 and gradually and continuously changed. Thus, the vehicle periphery visual recognition apparatus concerning this embodiment gives the width | variety to transition time T3, T4 which changes the cut-out view angle X. FIG.

  As a result, the vehicle periphery visual recognition apparatus according to this embodiment changes the cut-out view angle X from the initial cut-out view angle (minimum cut-out view angle) XA to the maximum cut-out view angle XB, and from the maximum cut-out view angle XB. Compared to a case where the angle (minimum cut-out view angle) XA is changed in a moment (see FIG. 9D), the cut-out view angle X can be changed continuously and smoothly. Thereby, the vehicle periphery visual recognition apparatus concerning this embodiment can provide a driver with the image which changes smoothly smoothly continuously, Therefore It can reduce the burden on a driver.

  In addition, as shown in FIGS. 9B and 9C, the vehicle periphery visual recognition device according to this embodiment changes the cut-out view angle X from the initial cut-out view angle (minimum cut-out view angle) XA to the maximum cut-out view angle XB. The transition time T3 to be changed is shorter than the transition time T4 to change the cutout view angle X from the maximum cutout view angle XB to the initial cutout view angle (minimum cutout view angle) XA. For this reason, the vehicle periphery visual recognition apparatus according to this embodiment changes the initial cutout view angle (minimum cutout view angle) XA to the maximum cutout view angle XB from the maximum cutout view angle XB. Angle of view) Since it can be performed earlier than the change to XA, blind spot viewing can be performed quickly, which contributes to traffic safety. On the other hand, the vehicle periphery visual recognition device according to this embodiment changes the maximum cut-out view angle XB to the initial cut-out view angle (minimum cut-out view angle) XA, and changes the maximum cut-out view angle (minimum cut-out view angle) XA from the maximum cut-out view angle XA. Since it can be performed over time rather than changing to the corner XB, the enlargement ratio of the image displayed on the display device 4 can be increased over time, and the burden on the driver can be reduced.

  As shown in FIG. 9C, the vehicle periphery visual recognition apparatus according to this embodiment changes the initial cut-out view angle (minimum cut-out view angle) XA to the maximum cut-out view angle XB in a non-linear logarithmic function. The blind spot can be quickly seen at the start of the change. On the other hand, as shown in FIG. 9C, the vehicle periphery visual recognition apparatus according to this embodiment changes the maximum cutout view angle XB to the initial cutout view angle (minimum cutout view angle) XA in a nonlinear exponential manner. Therefore, the enlargement ratio of the image displayed on the display device 4 at the end of the change can be slowly increased over time, and the burden on the driver can be reduced. Note that the change in the cut-out angle of view X may be non-linear other than logarithmic or exponential as shown in FIG.

  As shown by the solid line in FIG. 8, the vehicle periphery visual recognition apparatus according to this embodiment is configured to change the steering angle θ (θA, θ1, θ2, θ3, θB) and the cut-out angle of view X (XA, XN, X1, X2, X3 and XB) are given different widths. That is, the change in the steering angle θ (θA, θ1, θ2, θ3, θB) and the change in the cut-out angle of view X (XA, XN, X1, X2, X3, XB) vary stepwise (stepping). is there. For this reason, in the vehicle periphery visual recognition device according to this embodiment, the image displayed on the display device 4 is maintained at a constant cut-out angle of view within a constant width (range) of the steering angle θ. Compared with the case where the angle fluctuates linearly as indicated by the one-dot chain line in FIG. A stable image can be provided to the driver.

  In the vehicle periphery visual recognition device according to this embodiment, an initial cut-out view angle XA is added to an image cut out by the overlapping unit 7 at the set cut-out view angle X (XA, XN, X1, X2, X3, XB). The light-transmitting outer frame 12 having the same size or almost the same size as the outer frame of the image cut out in FIG. 5 (see FIG. 5) is superposed. For this reason, the vehicle periphery visual recognition apparatus according to this embodiment performs initial clipping in images clipped at intermediate clipping angles XN, X1, X2, and X3 and maximum clipping angle of view XB (see FIGS. 6 and 7). The relative positional relationship between the angle of view XA, the intermediate cutout view angles XN, X1, X2, and X3 and the maximum cutout view angle XB can be grasped. That is, the vehicle periphery visually recognizing device according to this embodiment can grasp the blind spot range on the mirror surface of the vehicle rear view mirror on the display device 4, and can contribute to traffic safety.

(Description of example other than embodiment)
In the above-described embodiment, as shown in FIGS. 9A, 9B, and 9C, the cutout view angle X is set to the initial cutout view angle (minimum cutout view angle) based on ON / OFF of the blinker switch SW. Corner) The transition time T3 for changing from XA to the maximum clipping angle of view XB and the transition time T4 for changing from the maximum clipping angle of view XB to the initial clipping angle of view (minimum clipping angle of view) XA are given widths. . However, in the present invention, based on the steering angle θ, a transition time for changing the cut-out view angle X from a narrow cut-out view angle to a wide cut-out view angle, and a narrow-angle cut-out from the wide-angle cut-out view angle. Each transition time to be changed to the angle of view may have a width.

  In the above-described embodiment, as shown in FIGS. 9B and 9C, the cut-out view angle X is changed from the initial cut-out view angle (minimum cut-out view angle) XA based on ON / OFF of the blinker switch SW. The transition time T3 for changing to the maximum cut-out view angle XB is made shorter than the transition time T4 for changing from the maximum cut-out view angle XB to the initial cut-out view angle (minimum cut-out view angle) XA. However, in the present invention, the transition time for changing the cut-out view angle X from the narrow cut-out view angle to the wide cut-out view angle based on the steering angle θ is changed from the wide-angle cut-out view angle to the narrow-angle cut-out view. It may be shorter than the transition time for changing to a corner.

  Further, in the above-described embodiment, threshold values θA, θ1, θ2, θ3, and θB are provided for the steering angle θ of the vehicle information for changing the cut-out view angle X (XA, XN, X1, X2, X3, XB). is there. However, in the present invention, the dead zones θD are set to the threshold values θA, θ1, θ2, θ3, and θB provided at the steering angle θ of the vehicle information for changing the cut-out view angle X (XA, XN, X1, X2, X3, XB). It may be provided.

  Further, in the above-described embodiment, the cut-out angle of view X (XA, XN, X1, X2, X3, XB) is changed based on the change in the steering angle θ (θA, θ1, θ2, θ3, θB). is there. However, in the present invention, the relative relationship between the change in the steering angle θ (θA, θ1, θ2, θ3, θB) and the change in the cut-out angle of view X (XA, XN, X1, X2, X3, XB) is expressed as the vehicle speed. It may be changed based on S.

DESCRIPTION OF SYMBOLS 1 Imaging device 2 Detection apparatus 3 Image processing apparatus 4 Display apparatus 5 Discriminating part 6 Image clipping part 7 Superposition part 8 Road surface 9 Road shoulder 10 Road wall 11 Road cone 12 Light-transparent outer frame C Vehicle SW Winker switch T Time T1 Start of change T2 Start of change T3 Transition time T4 Transition time X Cutout view angle XA Minimum cutout view angle, initial cutout view angle XB Maximum cutout view angle XN, X1, X2, X3 Intermediate cutout view angle θ Steering angle θA, θ1, θ2, θ3, θB Input signal, discrimination signal, threshold

Claims (4)

An imaging device for imaging the periphery of the vehicle;
A detection device for detecting vehicle information;
The image around the vehicle imaged by the imaging device is cut out with the cut-out angle of view set based on the vehicle information from the detection device, and the cut-out angle of view is changed according to the change of the vehicle information An image processing apparatus
A display device for displaying the image cut out by the image processing device;
With
The image processing device has a width in transition time for changing the cut-out angle of view,
The vehicle periphery visual recognition device characterized by the above-mentioned. The image processing device makes the transition time for changing the cut-out view angle from a narrow angle to a wide angle shorter than the transition time for changing the cut-out view angle from a wide angle to a narrow angle.
The vehicle periphery visual recognition device according to claim 1 characterized by things. The imaging device is an imaging device that images the rear and side of a vehicle,
The detection device is a detection device that detects ON / OFF of a turn signal switch of the vehicle,
The image processing device is an image processing device that sets the cut-out angle of view when the turn signal switch is in an ON state to a wide angle with respect to the cut-out view angle when the turn signal switch is in an OFF state,
The display device is cut out by the image processing device at the cut-out angle of view when the winker switch is in the OFF state, and at the cut-out angle of view when the winker switch is in the ON state. A display device for displaying the image;
The vehicle periphery visual recognition device according to claim 1 or 2. The image processing apparatus includes an outer frame of the image cut out at the cut-out angle of view when the winker switch is turned off, and an outer frame of the image cut out at the cut-out angle of view when the winker switch is turned off. A superimposing part that superimposes a light-transmitting outer frame of the same or almost the same size is provided.
The vehicle periphery visual recognition device according to claim 3 characterized by things.

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